A framework for force and visual control of robot manipulators

Springer Tracts in Advanced Robotics

Volumn 66, Issue STAR, 2010, Pages 373-382

  Lippiello, Vincenzo ^a   Siciliano, Bruno ^a   Villani, Luigi ^a  

^a UNIVERSITY OF NAPLES FEDERICO II   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SCHEMES; INNER LOOPS; INTERACTION CONTROLS; KNOWN ENVIRONMENTS; OBJECT POSE; ON-LINE ESTIMATION; OUTER LOOP; POSE ESTIMATION; RIGID OBJECTS; ROBOT MANIPULATOR; TIME VARYING; VISUAL CONTROL; VISUAL DATA;

FLEXIBLE MANIPULATORS; MODULAR ROBOTS; ROBOT APPLICATIONS; ROBOTICS;

INDUSTRIAL ROBOTS;

EID: 78651074707     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-14743-2_31     Document Type: Conference Paper

References (15)

1. Hosoda, K., Igarashi, K., Asada, M.: Adaptive hybrid control for visual and force servoing in an unknown environment. Robotics & Automation Magazine 5(4), 39-43 (1998)
2. Nelson, B.J., Morrow, J.D., Khosla, P.K.: Improved force control through visual servoing. In: 1995 American Control Conf., pp. 380-386 (1995)
3. Baeten, J., Schutter, J.D.: Integrated Visual Servoing and Force Control. In: The Task Frame Approach, Springer, Heidelerg (2004)
4. Morel, G., Malis, E., Boudet, S.: Impedance based combination of visual and force control. In: 1998 IEEE Int. Conf. on Robotics and Aut., pp. 1743-1748 (1998)
5. Olsson, T., Johansson, R., Robertsson, A.: Flexible force-vision control for surface following using multiple cameras. In: 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and System, pp. 798-803 (2004)
6. Siciliano, B., Villani, L.: Robot Force Control. Kluwer Academic Publishers, Boston (1999)
7. Yoshikawa, T., Sugie, T., Tanaka, M.: Dynamic hybrid position/force control of robot manipulators-Controller design and experiment. IEEE J. of Robotics and Automation 4, 699-705 (1988)
8. Hogan, N.: Impedance control: An approach to manipulation, Parts I-III. ASME J. of Dynamic Systems, Measurement, and Control 107, 1-24 (1985)
9. Chiaverini, S., Sciavicco, L.: The parallel approach to force/position control of robotic manipulators. IEEE Trans. on Robotics and Automation 9, 361-373 (1993)
10. Lippiello, V., Villani, L.: Managing redundant visual measurements for accurate pose tracking. Robotica 21, 511-519 (2003)
11. Espiau, B., Chaumette, F., Rives, P.: A new approach to visual servoing in robotics. IEEE Trans. on Robotics and Aut. 8(3), 313-326 (1996)
12. Canudas de Wit, C., Siciliano, B., Bastin, G. (eds.): Theory of Robot Control. Springer, London (1996)
13. Lippiello, V., Siciliano, B., Villani, L.: Position-based visual servoing in industrial multi-robot cells using a hybrid camera configuration. IEEE Trans. on Robotics, 73-86 (2007)
14. Lippiello, V., Siciliano, B., Villani, L.: A position-based visual impedance control for robot manipulators. In: 2007 IEEE Int. Conf. on Robotics and Automation, pp. 2068-2073 (2007)
15. Lippiello, V., Siciliano, B., Villani, L.: Robot force/position control with force and visual feedback. In: European Control Conference 2007, Kos, Greece (2007)